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cherry pick https://github.com/introlab/rtabmap_ros/commit/70ddb3fc839394a5b440fee56f1877c508d6b9ea

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matlabbe
2025-03-22 21:14:47 -07:00
parent 12e61a952e
commit 8c1513bc3b
1 changed files with 4 additions and 1 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+4 -1
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@@ -2815,7 +2815,10 @@ bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Emp
NODELET_INFO("2D mapping = %s", twoDMapping_?"true":"false");
}
rtabmap_.parseParameters(parameters_);
mapsManager_.setParameters(parameters_);
// Don't reset map in localization mode
if(rtabmap_.getMemory()->isIncremental()) {
mapsManager_.setParameters(parameters_);
}
return true;
}